CN106652079B - A kind of autonomous power grid cruising inspection system of infrared unmanned plane - Google Patents
A kind of autonomous power grid cruising inspection system of infrared unmanned plane Download PDFInfo
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- CN106652079B CN106652079B CN201611008322.6A CN201611008322A CN106652079B CN 106652079 B CN106652079 B CN 106652079B CN 201611008322 A CN201611008322 A CN 201611008322A CN 106652079 B CN106652079 B CN 106652079B
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- unmanned plane
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- 238000007689 inspection Methods 0.000 title claims abstract description 27
- 238000003331 infrared imaging Methods 0.000 claims abstract description 16
- 230000005611 electricity Effects 0.000 claims abstract description 11
- 230000035807 sensation Effects 0.000 claims abstract description 8
- 230000007812 deficiency Effects 0.000 claims abstract description 6
- 230000005855 radiation Effects 0.000 claims abstract description 5
- 230000008859 change Effects 0.000 claims abstract description 4
- 230000007704 transition Effects 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001931 thermography Methods 0.000 description 2
- 206010037660 Pyrexia Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000010292 electrical insulation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F3/00—Landing stages for helicopters, e.g. located above buildings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Geophysics And Detection Of Objects (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of infrared autonomous power grid cruising inspection systems of unmanned plane; including unmanned plane and airplane parking area; unmanned plane includes embedded core control panel, power module, infrared imaging module and wireless transport module, and power module is that embedded core control panel, infrared imaging module and wireless transport module are powered；Embedded core control panel is connected with infrared imaging module and wireless transport module respectively, infrared imaging module is used for infra-red radiation change transitions into the thermal sensation image for having vector pixel, is then carried out thermal characteristics analysis to thermal sensation image by embedded core control panel and is rationally judged equipment deficiency type；Wireless transport module is used to for judging result being sent to the control centre of distal end；Airplane parking area is placed in electric pole top, and for unmanned plane when power module electricity is lower than set threshold value during inspection, unmanned plane rests in recharging on the airplane parking area nearby.The present invention is able to achieve the unmanned plane power network line inspection of long period, greater efficiency.
Description
Technical field
The present invention relates to power grid inspection technical fields, more particularly to a kind of infrared autonomous power grid cruising inspection system of unmanned plane.
Background technique
With the fast development of China's power grid construction, China's power load is being increased rapidly.Infrared temperature-test technology can and
When discovering device outside overheating fault and built-in electrical insulation failure, can find to connect outside power equipment in time using this technology
The fever hidden danger of contact, is widely applied in the power system at present.And to reduce operating cost, it solves artificial
Deficiency present in operation, the inspection scheme of UAV system infrared image equipment.Compared with manual inspection, unmanned plane is not by ground
Shape factor, geographical environment, weather influence still can work normally in the region unmanned plane that patrol officer is difficult to reach,
Safety is good, and mobility is high.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of infrared autonomous power grid cruising inspection system of unmanned plane, be able to achieve compared with
For a long time, the unmanned plane power network line inspection of greater efficiency.
The technical solution adopted by the present invention to solve the technical problems is: providing a kind of autonomous power grid inspection of infrared unmanned plane
System, including unmanned plane and airplane parking area, the unmanned plane include embedded core control panel, power module, infrared imaging module
And wireless transport module, the power module are that embedded core control panel, infrared imaging module and wireless transport module carry out
Power supply；The embedded core control panel is connected with infrared imaging module and wireless transport module respectively, the infrared imaging mould
Block is used for infra-red radiation change transitions at the thermal sensation image for having vector pixel, then by the embedded core control panel to heat
Sense image carries out thermal characteristics analysis and is rationally judged equipment deficiency type；The wireless transport module is used for judging result
It is sent to the control centre of distal end；The airplane parking area is placed in electric pole top, unmanned plane power module electricity during inspection
When amount is lower than set threshold value, the unmanned plane rests in recharging on the airplane parking area nearby.
The embedded core control panel also utilizes image centroid to be unfolded to track to dynamic object, obtains the dynamic of multiple image
State track detects the fault point of route by the target image to tend towards stability is calculated.
The embedded core control panel is also connected with GPS module, and the GPS module is used to obtain the position letter of unmanned plane
Breath.
The embedded core control panel is also connected with electric power detection module, and the electric power detection module is used for power supply mould
The remaining electricity of block is detected.
The unmanned plane airplane parking area is PVC material bowl-type equipment, and the bowl-type device bottom has for guaranteeing that unmanned plane is pacified
The hole landed entirely, the upper edge of the bowl-type equipment are equipped with charging module, wireless communication module and the motor for connecting top cover, work as nothing
When man-machine entrance airplane parking area is charged, wireless communication module receives shutdown signal, and starting motor closes the top of bowl-type equipment
Lid；When unmanned plane is fully charged, wireless communication module receives open signal, and starting motor opens the top cover of bowl-type equipment.
Beneficial effect
Due to the adoption of the above technical solution, compared with prior art, the present invention having the following advantages that and actively imitating
Fruit: the present invention has good independence, when power module electricity is lower than set threshold value to unmanned plane during inspection, just
Recharging on airplane parking area closely is rested in, the patrol task of entire circuit can be completed well.The invention can be to longer line
Road carries out inspection, while infrared thermal imaging equipment can also be used to analyze and study the potential faults occurred on route, increases
The strong efficiency of inspection route.Current supply loss can be effectively reduced, is had very for the raising of economic benefit and social benefit
Important meaning.
Detailed description of the invention
Fig. 1 is composition mechanism schematic diagram of the invention；
Fig. 2 is the module composed structure schematic diagram of unmanned plane of the invention.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
Embodiments of the present invention are related to a kind of autonomous power grid cruising inspection system of infrared unmanned plane, as depicted in figs. 1 and 2, packet
Unmanned plane 1 and airplane parking area 2 are included, the unmanned plane 1 includes embedded core control panel, power module, infrared imaging module and nothing
Line transmission module, the power module are that embedded core control panel, infrared imaging module and wireless transport module are powered；
The embedded core control panel is connected with infrared imaging module and wireless transport module respectively, and the infrared imaging module is used for
By infra-red radiation change transitions at the thermal sensation image for having vector pixel, then by the embedded core control panel to thermal sensation image
Thermal characteristics analysis is carried out rationally to judge equipment deficiency type；The wireless transport module is for judging result to be sent to
The control centre of distal end；The airplane parking area 2 is placed in 6 top of electric pole, and the unmanned plane 1 power module electricity during inspection is low
When set threshold value, the unmanned plane 1 rests in recharging on the airplane parking area nearby.
The airplane parking area 2 is PVC material bowl-type equipment, and bowl-type device bottom hole guarantees the safety land of unmanned plane,
And the ponding of rainy day is prevented, along the motor for having charging module 4, wireless communication module 5 and connection top cover in airplane parking area bowl-type equipment
3, when unmanned plane, which enters airplane parking area access charging module 4, to charge, wireless communication module 5 receives shutdown signal, starts motor 3
Close the top cover of bowl-type equipment；When unmanned plane is fully charged, wireless communication module 5 receives open signal, and starting motor 3 is opened
The top cover of bowl-type equipment.
The embedded control board includes ARM minimum system plate, display screen and DSP data processing module.Data processing mould
Block is used to the mass data that processing obtains in real time.The embedded control board is also connected with GPS module, and the GPS module is for obtaining
The location information of unmanned plane is taken, is so convenient for location lookup and maintenance after unmanned plane breaks down.
Its radiation variation can be transformed into the thermal sensation image for having vector pixel by the infrared imaging module, then to its into
The analysis of row thermal characteristics, can rationally judge equipment deficiency type.Unmanned plane carries infrared equipment and adopts in flight course
Collection image can generate some disturbing factors, under the influence of these disturbing factors, it should using image centroid to dynamic object exhibition
Tracking is opened, the dynamic trajectory of available multiple image detects outlet by calculating the available target image to tend towards stability
The fault point on road.
During unmanned plane during flying when power module not enough power supply, the distance to the electric pole closed on is calculated, is stopped nearby
Machine level ground carries out recharging, and when close to airplane parking area, electric pole airplane parking area is defaulted lid and opened, and unmanned plane passes through motor control after entering
Top cover is closed, prevents from drenching with rain and other adverse circumstances, after unmanned plane charges electricity safely, top cover is opened, and is continued after charging
Inspection is carried out, good independence is reached.Wherein, power module electricity is by the electricity that connect with the embedded core control panel
Detection module is detected.
The present invention can carry out inspection to longer lines, while infrared thermal imaging equipment can also be used to occurring on route
Potential faults are analyzed and are studied, and the efficiency of inspection route is enhanced.When unmanned plane during inspection power module electricity
When lower than set threshold value, recharging on airplane parking area is rested in nearby, and the inspection that can complete entire circuit well is appointed
Business.
Claims (3)
1. a kind of autonomous power grid cruising inspection system of infrared unmanned plane, including unmanned plane and airplane parking area, which is characterized in that the unmanned plane
Including embedded core control panel, power module, infrared imaging module and wireless transport module, the power module is embedded
Core control panel, infrared imaging module and wireless transport module are powered；The embedded core control panel respectively with it is infrared
Image-forming module is connected with wireless transport module, and the infrared imaging module is used for infra-red radiation change transitions at there is vector pixel
Thermal sensation image, then by the embedded core control panel to thermal sensation image carry out thermal characteristics analysis to equipment deficiency type into
Row rationally judgement；The wireless transport module is used to for judging result being sent to the control centre of distal end；The airplane parking area is placed in
Electric pole top, the unmanned plane during inspection power module electricity be lower than set threshold value when, the unmanned plane is nearest
Rest in recharging on the airplane parking area；The embedded core control panel also utilize image centroid to dynamic object expansion with
Track obtains the dynamic trajectory of multiple image, by the target image to tend towards stability is calculated, detects the fault point of route；
The unmanned plane airplane parking area is PVC material bowl-type equipment, and the bowl-type device bottom has for guaranteeing what unmanned plane landed safely
Hole, the upper edge of the bowl-type equipment are equipped with charging module, wireless communication module and the motor for connecting top cover, when unmanned plane enters
When airplane parking area is charged, wireless communication module receives shutdown signal, and starting motor closes the top cover of bowl-type equipment；When nobody
When machine is fully charged, wireless communication module receives open signal, and starting motor opens the top cover of bowl-type equipment.
2. the autonomous power grid cruising inspection system of infrared unmanned plane according to claim 1, which is characterized in that the embedded core
Control panel is also connected with GPS module, and the GPS module is used to obtain the location information of unmanned plane.
3. the autonomous power grid cruising inspection system of infrared unmanned plane according to claim 1, which is characterized in that the embedded core
Control panel is also connected with electric power detection module, and the electric power detection module is for detecting the remaining electricity of power module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611008322.6A CN106652079B (en) | 2016-11-16 | 2016-11-16 | A kind of autonomous power grid cruising inspection system of infrared unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611008322.6A CN106652079B (en) | 2016-11-16 | 2016-11-16 | A kind of autonomous power grid cruising inspection system of infrared unmanned plane |
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| Publication Number | Publication Date |
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| CN106652079A CN106652079A (en) | 2017-05-10 |
| CN106652079B true CN106652079B (en) | 2019-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611008322.6A Expired - Fee Related CN106652079B (en) | 2016-11-16 | 2016-11-16 | A kind of autonomous power grid cruising inspection system of infrared unmanned plane |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107268464A (en) * | 2017-07-05 | 2017-10-20 | 广东容祺智能科技有限公司 | A kind of removable unmanned plane charging platform of highway |
| CN107402580B (en) * | 2017-07-18 | 2021-01-29 | 国家电网公司 | Unmanned aerial vehicle-based power grid inspection automation method |
| CN108053635A (en) * | 2017-12-15 | 2018-05-18 | 杭州莱宸科技有限公司 | A kind of unmanned plane is automatically positioned kilowatt meter reading-out system |
| CN108230678B (en) * | 2018-03-01 | 2020-12-01 | 深圳联和智慧科技有限公司 | Traffic road monitoring system using unmanned aerial vehicle for monitoring |
| CN111251934B (en) * | 2020-01-20 | 2021-04-27 | 南京大学 | High-voltage line inspection scheduling method based on unmanned aerial vehicle wireless charging |
| CN113436362A (en) * | 2021-06-16 | 2021-09-24 | 国网河北省电力有限公司邯郸供电分公司 | Communication cable inspection method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104538899A (en) * | 2015-01-19 | 2015-04-22 | 中兴长天信息技术(北京)有限公司 | Wireless-transmission-based unmanned aerial vehicle platform for power line inspection |
| CN204679793U (en) * | 2015-05-26 | 2015-09-30 | 河海大学 | A kind of full-automatic remote distance power circuit unmanned plane inspection tour system |
| CN205384512U (en) * | 2015-12-25 | 2016-07-13 | 深圳市龙云创新航空科技有限公司 | Multi -functional unmanned aerial vehicle and unmanned aerial vehicle control system |
| CN106025930A (en) * | 2016-07-30 | 2016-10-12 | 福州大学 | Unmanned aerial vehicle autonomous grid line patrol system |
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2016
- 2016-11-16 CN CN201611008322.6A patent/CN106652079B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104538899A (en) * | 2015-01-19 | 2015-04-22 | 中兴长天信息技术(北京)有限公司 | Wireless-transmission-based unmanned aerial vehicle platform for power line inspection |
| CN204679793U (en) * | 2015-05-26 | 2015-09-30 | 河海大学 | A kind of full-automatic remote distance power circuit unmanned plane inspection tour system |
| CN205384512U (en) * | 2015-12-25 | 2016-07-13 | 深圳市龙云创新航空科技有限公司 | Multi -functional unmanned aerial vehicle and unmanned aerial vehicle control system |
| CN106025930A (en) * | 2016-07-30 | 2016-10-12 | 福州大学 | Unmanned aerial vehicle autonomous grid line patrol system |
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Granted publication date: 20190621 Termination date: 20211116 |